Implementation of the Speed Approach for UAV Collision Avoidance in Dynamic Environment

Berdonosov, Victor D.; Zivotova, A.A.; Zhuravlev, D.O.; Naing, Zaw Htet

doi:10.1109/fareastcon.2018.8602815

Cited by 8 publications

(3 citation statements)

References 20 publications

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“…The algorithms mentioned in the previous paragraph found that the first algorithm was successfully implemented in a flight simulation using up to 50 UAVs with yaw and speed maneuvers [39]. However, the second publication on detect and avoid implementation was not related to the mentioned algorithms.…”

Section: Ads-b Researchmentioning

confidence: 99%

UAS Traffic Management Communications: The Legacy of ADS-B, New Establishment of Remote ID, or Leverage of ADS-B-Like Systems?

Ruseno

Lin

Chang

2022

Drones

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Unmanned aerial system (UAS) traffic management (UTM) requires each UAS to communicate with each other and to other stakeholders involved in the operation. In practice, there are two types of wireless communication systems established in the UAS community: automatic dependent surveillance broadcast (ADS-B) and remote identification (Remote ID). In between these two systems, there is ADS-B-like communication which leverages using other types of communications available in the market for the purpose of UTM. This review aims to provide an insight into those three systems, based on the published standard documents and latest research development. It also suggests how to construct a feasible communication architecture. The integrative approach is used in this literature review. The review categorization includes definition, data format, technology used, and research applications, and any remaining issues are discussed. The similarities and differences of each system are elaborated, covering practical findings. In addition, the SWOT analysis is conducted based on the findings. Lastly, multi-channel communication for UTM is proposed as a feasible solution in the UTM operation.

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Section: Ads-b Researchmentioning

confidence: 99%

UAS Traffic Management Communications: The Legacy of ADS-B, New Establishment of Remote ID, or Leverage of ADS-B-Like Systems?

Ruseno

Lin

Chang

2022

Drones

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“…While path planning-based methods offer high accuracy, some of them, like combining differential game problems with tree-based path planning [28], utilizing reinforcement learning for UAV guidance [29], optimizing flight trajectory with a bank-turn mechanism [30], employing the Radau-pseudospectral approach [31], applying probabilistic methods in collision detection [32], or generating an automated distributed policy for multi-robot motion planning [33], may face significant computational challenges when implemented in real time for small UAVs. Analytical formulations such as the speed approach [34] and the use of buffered Voronoi Cells for path planning [35], though computationally efficient, may lack intuitive understanding and require specialized expertise to implement effectively.…”

Section: Introductionmentioning

confidence: 99%

Genetic Fuzzy Inference System-Based Three-Dimensional Resolution Algorithm for Collision Avoidance of Fixed-Wing UAVs

Rauniyar,

Kim

2023

Electronics

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Fixed-wing Unmanned Aerial Vehicles (UAVs) cannot fly at speeds lower than critical stall speeds. As a result, hovering during a potential collision scenario, like with rotary-wing UAVs, is impossible. Moreover, hovering is not an optimal solution for Collision Avoidance (CA), as it increases mission time and is innately fuel-inefficient. This work proposes a decentralized Fuzzy Inference System (FIS)-based resolution algorithm that modulates the point-to-point mission path while ensuring the continuous motion of UAVs during CA. A simplified kinematic guidance model with coordinated turn conditions is considered to control the UAVs. The model employs a proportional-derivative control of commanded airspeed, bank angle, and flight path angle. The commands are derived from the desired path, characterized by airspeed, heading, and altitude. The desired path is, in turn, obtained using look-ahead points generated for the target point. The FIS aims to mimic human behavior during collision scenarios, generating modulation parameters for the desired path to achieve CA. Notably, it is also scalable, which makes it easy to adjust the algorithm parameters, as per the required missions, and factors specific to a given UAV. A genetic algorithm was used to optimize FIS parameters so that the distance traveled during the mission was minimized despite path modulation. The proposed algorithm was optimized using a pairwise conflict scenario. The effectiveness of the algorithm was evaluated through a Monte Carlo simulation of random conflict scenarios involving multiple UAVs operating in a confined space.

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“…To overcome the uncertainty impact on the pre-planned 4D routes, one study [42] proposed a dynamic adjustment method to adjust the airspeed in response to the leads or lags of flight, which increased adherence to the estimated time of arrival at each waypoint in the pre-planned route. Another work [206] studied the speed approach for UAV conflict resolution, while the critical speed range for potential conflicts was considered to reduce the computational cost. To solve the potential conflicts in UAV formation flight, researchers [121], [207] investigated the speed change strategy based on potential field vectors.…”

Section: A Strategies In Temporal Dimension: Scheduling and Speed Adj...mentioning

confidence: 99%

Risk-based route planning and decision making for unmanned aircraft system operations in urban environments

Pang

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Doing PhD is one of the best choices I made in my life, as it offers me an opportunity to experience the most challenging but interesting research journey. Along the journey, I have gained substantial knowledge, invaluable friendship, and various experiences in life. However, I cannot achieve that without the tremendous help, support, and encouragement from my supervisors, colleagues, friends, and my family. I would sincerely like to thank each and every one of you.First of all, I am deeply grateful to my supervisor Professor Vu N. Duong for taking care of me during hard times, guiding me through confusion times, and supporting me at all times. I am also very thankful to my co-supervisor Professor Lyu Chen. His broad knowledge and insightful advice on intelligent decision making have been instrumental in helping me complete this thesis. I would also like to thank Professor Low Kin Huat for his kind guidance, support, and encouragement for my PhD studies. I am so grateful to have them with me on my research journey and appreciate their great patience and support throughout the process.My gratitude is also extended to my teachers, colleagues, and friends, who have supported me both professionally and personally. I would like to thank Professor Henk Blom, Professor Sameer Alam, Professor Wang Yifan, and Professor Mao Kezhi. The discussions with them helped me to jump out of the "box" and understand the research problem in a broader and deeper view. My thanks are also expressed to my teammates in ATMRI, NTU, especially to Ms

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Implementation of the Speed Approach for UAV Collision Avoidance in Dynamic Environment

Cited by 8 publications

References 20 publications

UAS Traffic Management Communications: The Legacy of ADS-B, New Establishment of Remote ID, or Leverage of ADS-B-Like Systems?

UAS Traffic Management Communications: The Legacy of ADS-B, New Establishment of Remote ID, or Leverage of ADS-B-Like Systems?

Genetic Fuzzy Inference System-Based Three-Dimensional Resolution Algorithm for Collision Avoidance of Fixed-Wing UAVs

Risk-based route planning and decision making for unmanned aircraft system operations in urban environments

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